Craft having a rotatable fluid propulsion device

FIELD OF THE INVENTION

This invention relates to a craft in which a rotor directs a jet of fluid over an aerodynamic surface to create lift or thrust.

BACKGROUND OF THE INVENTION

The invention is potentially applicable to any such craft, for example a fixed wing propeller-driven aircraft, a propeller-driven submarine or water surface craft, However, the invention arose in connection with the design of a particular type of vertical take-off aircraft where a bladed rotor is used to direct a jet of air over a curved surface so that the jet is turned from a radial direction towards an axial direction thereby creating the required lift or thrust.

Stability is a particularly acute problem in craft such as helicopters which are required to hover. Complex control systems are normally needed to achieve the required degree of stability. For craft of the particular type referred to above, no satisfactory stabilising system has yet been devised and, probably for that reason, such craft have at least mainly been confined to paper proposals and unsuccessful experimental models.

SUMMARY OF THE INVENTION

The invention provides a craft in which a rotor directs a jet of fluid over an aerodynamic surface there by creating lift or thrust, characterised in that the rotor and an associated drive unit are such that, in operation at full power, a gyroscopic effect of the rotor gives the vehicle positive stability. The term “positive stability” is defined in the definitions section of this specification.

Conventional practice, when designing aircraft, has placed great emphasis on a reduction, so far as possible, of the weight of all components of the aircraft so as to minimize the lifting force needed to support the weight of the craft itself. This invention arose from a realisation that a critically important advantage can be achieved by distributing the weight in such a way as to maximise the angular momentum of the rotating parts. This can increase their gyroscopic effect to a degree such that the craft is given positive stability (as hereinafter defined). This can be achieved by designing the craft so that the rotor carries (or is formed integrally with) as much of the weight of the craft as possible, such weight being located as far as is reasonably possible from an axis of rotation. Naturally, the angular velocity of the rotor has an influence on the angular momentum and therefore, to achieve the requirements of the invention, the power, speed and gearing (if any) of the drive unit and any associated power supply will have to be chosen correctly in association with the moment of inertia of the rotating parts.

The invention is particularly applicable to a craft of the type in which the rotor directs the jet of air over a dome or canopy shaped to divert the jet from a radial or horizontal direction towards an axial or vertical direction, thereby providing lift. The inventor has discovered that such craft are highly susceptible to certain stability problems.

The first of these problem situations arises during lift-off and landing because the integrity of the jet of air, as it separates from a lower edge of the canopy, is spoilt by the presence of the ground surface. If one side of the lower edge of the canopy is lifted from the ground higher than an opposite side (eg by a gust of wind), that first-mentioned side experiences greater lift because the effect of the ground surface there is reduced. Consequently, the vehicle becomes unstable. The positive stability obtained by employing the invention has been found to be capable of controlling the aforementioned problem. Further benefit can be obtained by raising a bottom edge of the canopy from the ground surface using legs or equivalent spacing means thereby reducing the detrimental effect of the ground on lift.

A second stability problem arises when the craft is required to fly close to a vertical surface. In a manner analogous to the situation previously described on take-off, when one side of the craft approaches a vertical surface, the jet flow on that side is disturbed, causing reduced lift on that side. Consequently the craft tends to tilt towards the vertical surface, eventually touching it, losing overall lift and dropping to the ground. Expressed another way, as the craft approaches the vertical surface, an above-ambient pressure is produced at the wall surface which translates to an increased static pressure at the canopy surface. This produces a controlled moment towards the wall which tilts the thrust vector, driving the craft closer still to the wall as if it were attracted to it.

It has been found that, by employing the invention, it becomes possible also to deal with this second problem. Because of the gyroscopic action of the rotating parts, the forces tending to tip the craft towards the vertical surface are translated into a precessional movement around a vertical axis, causing the craft to move sideways parallel to the vertical surface but without crashing into it.

The craft is preferably controlled using two angular movement or attitude sensors, typically optical or piezoelectric gyroscopes, set at an angle to each other to sense pitch and roll about orthogonal axes. These sensors are used to control respective pitch and roll controls such as vanes positioned on the lower edge of the canopy. Initial experiments showed that a control system constructed in this way did not function correctly. The inventor realised that when the control system attempted to apply turning moments about the same axes as those about which pitch and roll is measured, the gyroscopic effect of the rotor translated those moments through an angle equal to the gyroscopic angle of precession. He conjectured that this problem would be solved if the axes about which rotation is sensed were displaced, by a variable angle equal to the precession angle, from the axes about which control forces are applied. The displacement needs to be variable because the precession angle varies with angular velocity.

The aforementioned angular displacement is easily achieved by varying the axes about which pitch and roll are measured either by physically moving the sensors or by processing signals received from fixed sensors. An alternative technique would be to adjust the angles about which turning moments are applied; or a combination of both techniques could be used.

The aforementioned technique of correcting for the gyroscopic effect of the rotor, when calculating the direction of the force required to correct the attitude of the craft or to steer it in a required direction is considered to be entirely novel and thus, according to a second aspect of this invention there is provided a craft comprising a rotor, means for sensing a difference between a desired attitude and an actual attitude of the craft, and control means for determining a force required to reduce the said difference; characterised by means for producing a variable signal dependant on angular momentum of the rotor and in that the control means is designed to use the said variable signal to correct for a gyroscopic effect of the rotor.

One example of how the invention can be implemented will now be described by way of example with reference to the accompanying drawings in which:

BRIEF DESCRIPTION OF THE DRAWINGS

<figref idrefs="DRAWINGS">FIG. 1</figref> is a schematic perspective view of a craft constructed in accordance with the invention;

<figref idrefs="DRAWINGS">FIG. 2</figref> is a vertical axial cross-section through the craft of <figref idrefs="DRAWINGS">FIG. 1</figref>;

<figref idrefs="DRAWINGS">FIG. 3</figref> is a schematic diagram showing the craft from above;

<figref idrefs="DRAWINGS">FIG. 4</figref> is a block diagram of a control system of the craft; and

<figref idrefs="DRAWINGS">FIG. 5</figref> is similar to <figref idrefs="DRAWINGS">FIG. 2</figref> but shows how the craft would tilt when approaching a vertical wall, were it not for a gyroscopic effect of the invention.

DETAILED DESCRIPTION OF THE INVENTION

Referring first to <figref idrefs="DRAWINGS">FIG. 1</figref>, the illustrated craft comprises a dome-shaped canopy <b>1</b> having a vertical axis of symmetry X-X. A radial fan <b>2</b> draws in air at <b>3</b> along the axis X-X and expels it as a radial jet <b>4</b> over the surface of the canopy. The latter has the effect of diverting a jet stream from a radial direction to an axial direction so that it eventually separates from a lower edge <b>5</b> of the canopy as an annular stream <b>6</b>. The action of the canopy in diverting the jet from a radial to an axial direction produces an upward force on the craft, giving it sufficient lift to support its own weight plus any payload.

Mounted on the lower edge <b>5</b> of the canopy are vanes RV<b>1</b> and RV<b>2</b> (only one visible in <figref idrefs="DRAWINGS">FIG. 1</figref>) which are used to control roll of the craft, and vanes PV<b>1</b>, PV<b>2</b> which control pitch.

Referring to <figref idrefs="DRAWINGS">FIG. 2</figref>, it can be seen that the radial fan <b>2</b> and an associated drive mechanism are located in a recess <b>7</b> at the top of the canopy <b>1</b>. An axial shaft <b>8</b> carries an upper plate <b>8</b>A having apertures to define an air intake. The recess <b>7</b> receives fixed coils <b>7</b>A and a rotor <b>9</b>. The rotor <b>9</b> has a boss <b>9</b>A. mounted for rotation on the shaft <b>8</b> and a heavy annular ring <b>9</b>B. The ring <b>9</b>B defines a permanent magnet and co-operates with the coils <b>8</b> to form an electric motor driven, in this particular example, by batteries and an associated drive circuit (not shown). An upper side of the rotor <b>9</b> carries radial fan blades SC positioned at a level so as to impel air over the top of the surface of the canopy.

The rotor <b>9</b> is designed to have a large angular inertia about its axis X-X by virtue of the weight of the magnet <b>9</b>B and the blades <b>9</b>C at the radially outermost periphery of the rotor. The use of a radial fan for impelling the air is particularly effective because radial fans are efficient at producing radial flow and naturally tend to have a high distribution of weight away from the axis of rotation, giving them a high angular inertia. In accordance with the invention, the angular inertia of the rotor and the design of the motor and power supply are such that, at maximum power, the craft has positive stability.

<figref idrefs="DRAWINGS">FIG. 3</figref> shows an axis P, rotation about which is considered, for the purposes of this description, to be “pitch” and an orthogonal vertical axis R, rotation about which is considered to be “roll.” The precession angle of the gyroscopic system is a variable ∅ which depends on the angular velocity of the motor. The gyroscopic effect means that an attempt to apply a turning force in one plane results in a reaction in another plane displaced from it by the angle ∅.

The craft is equipped with two optical gyroscopes S<b>1</b> and S<b>2</b> set to sense rotation about orthogonal axes. If the sensor S<b>1</b> indicates an unwanted turning about an axis R<b>1</b>, this is corrected by adjusting vanes RV<b>1</b>, RV<b>2</b> to apply a turning moment about axis R which is translated by the gyroscopic effect into an appropriate correctional force about axis R<b>1</b>. Likewise, if the sensor S<b>2</b> indicates an unwanted turning moment about axis P<b>1</b>, this is corrected by adjusting vanes PV<b>1</b>, PV<b>2</b>. To allow for variations in angle ∅ with changing motor speed the sensors S<b>1</b>, S<b>2</b> can be physically rotated by an appropriate amount related to the motor speed or their outputs can be processed electronically to achieve an equivalent effect.

A system for electronic processing is shown in <figref idrefs="DRAWINGS">FIG. 4</figref> where blocks <b>4</b>.<b>1</b> and <b>4</b>.<b>2</b> indicate steering controls which generate signals defining desired pitch angle about axis P and roll angle about axis R. Measured values for these quantities, derived at <b>4</b>.<b>3</b> and <b>4</b>.<b>4</b> from. combined outputs of gyros S<b>1</b> and S<b>2</b> (<figref idrefs="DRAWINGS">FIG. 3</figref>), are compared at <b>4</b>.<b>5</b>, <b>4</b>.<b>6</b> with the desired values to give error signals which are fed to a processor <b>4</b>.<b>7</b>. The processor <b>4</b>.<b>7</b> also receives a signal from block <b>4</b>.<b>8</b> indicating the current angular velocity of the motor and uses this, together with a known value for the angular inertia of the system, to calculate the vane adjustments required to obtain the desired pitch and roll angles as defined at <b>4</b>.<b>1</b> and <b>4</b>.<b>2</b>. The results of such calculation are used by signal generators <b>4</b>.<b>9</b> and <b>4</b>.<b>10</b> to produce appropriate drive signals for actuators associated with vanes RV<b>1</b>, RV<b>2</b>, and PV<b>1</b>, PV<b>2</b>.

Referring now to <figref idrefs="DRAWINGS">FIG. 5</figref>, the craft is shown approaching a vertical wall. it can be seen that, in a region <b>10</b> between the craft and the wall, the jet stream is disturbed. This results in loss of lift and consequently the axis X-X tends to pitch as shown, further exacerbating the problem. However it has been found that the strong gyroscopic action of the rotor <b>9</b> translates the pitching effect into a precessional movement which drives the vehicle laterally, parallel to the vertical surface and entirely avoiding collision of the vehicle with the surface.

A similar advantageous effect occurs during lift-off and landing. At these times, stability of the craft is threatened by the fact that any tilting of the axis x-x from the vertical will cause one part of the lower edge <b>5</b> of the canopy to be closer to the ground than other parts. The jet stream will therefore be disturbed by the ground surface more acutely at that side of the craft, this resulting in reduced lift at that part and an accentuation of the initial tilt. The positive stability, provided by the gyroscopic effect of the invention, eliminates this problem, allowing stable take-off and landing to take place.

Definitions

In this specifications the following definitions of terms apply

“Lift” and “thrust” are used synonymously in this specification to refer to a thrust vector in any desired direction.

“Aerodynamic” is used to refer to the generation of any thrust by the action of any fluid passing over a surface or of a surface passing through any fluid.

“Positive stability” is defined as a state in which a body, when displaced from a datum position, will, in response to such displacement, tend to return to that position.

“Axial” and “radial” refer to directions having respective axial and radial components.

“Craft” means any vehicle capable of moving through a fluid or on a surface or interface including air vehicles, water surface vehicles and submarines.